Revert "Update GZBridge to be able to use gazebo airspeed. Add quadta…

…ilsitter. (PX4#23455)" (PX4#23583) This reverts commit 7e45f49. Co-authored-by: jmackay2 <[email protected]>
Peize-Liu · Aug 20, 2024 · f252e20 · f252e20
1 parent 0931179
commit f252e20
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Showing 7 changed files with 16 additions and 103 deletions.
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/1045_gazebo-classic_quadtailsitter
@@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0
 
-param set-default FD_FAIL_R 70
+parm set-default FD_FAIL_R 70
 
 param set-default FW_P_TC 0.6
 

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
@@ -14,7 +14,9 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=standard_vtol}
 param set-default SIM_GZ_EN 1
 
 param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
+param set-default SENS_EN_ARSPDSIM 1
 
 # TODO: Enable motor failure detection when the
 # VTOL no longer reports 0A for all ESCs in SITL

diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_quadtailsitter b/ROMFS/px4fmu_common/init.d-posix/airframes/4014_gz_quadtailsitter
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@@ -85,7 +85,6 @@ px4_add_romfs_files(
 	4011_gz_lawnmower
 	4012_gz_rover_ackermann
 	4013_gz_x500_lidar
-	4014_gz_quadtailsitter
 
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

diff --git a/src/modules/simulation/gz_bridge/GZBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -203,15 +203,17 @@ int GZBridge::init()
 		PX4_WARN("failed to subscribe to %s", laser_scan_topic.c_str());
 	}
 
-	// Airspeed: /world/$WORLD/model/$MODEL/link/base_link/sensor/airspeed_sensor/air_speed
-	std::string airspeed_topic = "/world/" + _world_name + "/model/" + _model_name +
-				     "/link/base_link/sensor/airspeed_sensor/air_speed";
+#if 0
+	// Airspeed: /world/$WORLD/model/$MODEL/link/airspeed_link/sensor/air_speed/air_speed
+	std::string airpressure_topic = "/world/" + _world_name + "/model/" + _model_name +
+					"/link/airspeed_link/sensor/air_speed/air_speed";
 
-	if (!_node.Subscribe(airspeed_topic, &GZBridge::airspeedCallback, this)) {
-		PX4_ERR("failed to subscribe to %s", airspeed_topic.c_str());
+	if (!_node.Subscribe(airpressure_topic, &GZBridge::airspeedCallback, this)) {
+		PX4_ERR("failed to subscribe to %s", airpressure_topic.c_str());
 		return PX4_ERROR;
 	}
 
+#endif
 	// Air pressure: /world/$WORLD/model/$MODEL/link/base_link/sensor/air_pressure_sensor/air_pressure
 	std::string air_pressure_topic = "/world/" + _world_name + "/model/" + _model_name +
 					 "/link/base_link/sensor/air_pressure_sensor/air_pressure";
@@ -424,7 +426,8 @@ void GZBridge::barometerCallback(const gz::msgs::FluidPressure &air_pressure)
 	pthread_mutex_unlock(&_node_mutex);
 }
 
-void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
+#if 0
+void GZBridge::airspeedCallback(const gz::msgs::AirSpeedSensor &air_speed)
 {
 	if (hrt_absolute_time() == 0) {
 		return;
@@ -449,6 +452,7 @@ void GZBridge::airspeedCallback(const gz::msgs::AirSpeed &air_speed)
 
 	pthread_mutex_unlock(&_node_mutex);
 }
+#endif
 
 void GZBridge::imuCallback(const gz::msgs::IMU &imu)
 {

diff --git a/src/modules/simulation/gz_bridge/GZBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp
@@ -102,7 +102,7 @@ class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::S
 
 	void clockCallback(const gz::msgs::Clock &clock);
 
-	void airspeedCallback(const gz::msgs::AirSpeed &air_speed);
+	// void airspeedCallback(const gz::msgs::AirSpeedSensor &air_pressure);
 	void barometerCallback(const gz::msgs::FluidPressure &air_pressure);
 	void imuCallback(const gz::msgs::IMU &imu);
 	void poseInfoCallback(const gz::msgs::Pose_V &pose);
@@ -123,7 +123,7 @@ class GZBridge : public ModuleBase<GZBridge>, public ModuleParams, public px4::S
 	// Subscriptions
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 
-	uORB::Publication<differential_pressure_s>    _differential_pressure_pub{ORB_ID(differential_pressure)};
+	//uORB::Publication<differential_pressure_s>    _differential_pressure_pub{ORB_ID(differential_pressure)};
 	uORB::Publication<obstacle_distance_s>        _obstacle_distance_pub{ORB_ID(obstacle_distance)};
 	uORB::Publication<vehicle_angular_velocity_s> _angular_velocity_ground_truth_pub{ORB_ID(vehicle_angular_velocity_groundtruth)};
 	uORB::Publication<vehicle_attitude_s>         _attitude_ground_truth_pub{ORB_ID(vehicle_attitude_groundtruth)};

diff --git a/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp b/src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
@@ -195,7 +195,7 @@ int SensorAirspeedSim::print_usage(const char *reason)
 
 )DESCR_STR");
 
-	PRINT_MODULE_USAGE_NAME("sensor_airspeed_sim", "system");
+	PRINT_MODULE_USAGE_NAME("sensor_arispeed_sim", "system");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();